SK Pang Electronics RSP-PICANGPS User manual

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
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SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
1
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Product name PiCAN GPS CAN-Bus Board for Raspberry Pi
Model number RSP-PICANGPS
Manufacturer SK Pang Electronics Ltd
PiCAN GPS USER GUIDE
V1.1

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
2
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Contents
Table of Contents
1.!Introduction ............................................................................................................ 3!
1.1.!Features*................................................................................................................................................................*3!
2.!Hardware Installation .............................................................................................. 3!
1.2.!Screw*Terminal*..................................................................................................................................................*4!
1.3.!120W*Terminator*.............................................................................................................................................*4!
1.4.!LED1*.......................................................................................................................................................................*4!
1.5.!LED2*.......................................................................................................................................................................*4!
1.6.!Not*Fitted*Items*.................................................................................................................................................*4!
1.7.!External*GPS*Antenna*and*Backup*Battery*...........................................................................................*4!
3.!Software Installation ............................................................................................... 5!
1.8.!Basic*GPS*Test*....................................................................................................................................................*6!
1.9.!Using*GPSD*..........................................................................................................................................................*7!
1.10.!External*GPS*Antenna*..................................................................................................................................*8!
1.11.!Bring*Up*the*CAN*Interface*........................................................................................................................*9!
4.!Writing Your Own Software .................................................................................... 10!
1.12.!Application*in*Python*.................................................................................................................................*10!
1.13.!Application*in*C*.............................................................................................................................................*11!
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!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
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1. Introduction
This!PiCAN!GPS!!board!provides!CAN-Bus!capability!for!the!Raspberry!Pi!2!and!3.!It!
uses!the!Microchip!MCP2515!CAN!controller.!CAN!connections!are!made!via!4!way!
screw!terminal!plug.!GPS!is!provided!by!a!66!channels!MTK3339!chipset!module.!An!
onboard!battery!holder!for!a!CR1220!cell.!The!backup!power!is!for!the!real!time!clock!
and!help!to!reduce!fix!time.!The!GPS!module!has!built!in!patch!antenna!but!an!external!
active!antenna!can!also!be!use!via!the!uFL!connector.!
Easy!to!install!SocketCAN!driver.!Programming!can!be!done!in!C!or!Python.!
1.1. Features
•! CAN!v2.0B!at!1!Mb/s!
•! High!speed!SPI!Interface!(10!MHz)!
•! Standard!and!extended!data!and!remote!frames!
•! CAN!connection!via!screw!terminal!
•! 120Ω!terminator!ready!
•! Serial!LCD!ready!
•! LED!indicator!
•! Four!fixing!holes,!comply!with!Pi!Hat!standard!
•! SocketCAN!driver,!appears!as!can0!to!application!
•! Interrupt!RX!on!GPIO25!!
• MTK3339!chipset!
• -165!dBm!sensitivity,!10!Hz!updates,!66!channels!!
• RTC!battery!holder!
• Fix!status!LED!
• On!board!patch!antenna!
• uFL!connector!for!external!active!antenna!
2. Hardware Installation
Before!installing!the!board!make!sure!the!Raspberry!is!switched!off.!Carefully!align!
the!40way!connector!on!top!of!the!Pi.!Use!spacer!and!screw!(optional!items)!to!secure!
the!board.!
!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
4
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1.2. Screw Terminal
The!CAN!connection!can!also!be!made!via!the!4!way!screw!terminal.!!
!
!
1.3. 120
W
Terminator
There!is!a!120W!fitted!to!the!board.!To!use!the!terminator!solder!a!2way!header!pin!to!
JP2!then!insert!a!jumper.!
1.4. LED1
There!is!a!red!LEDs!fitted!to!the!board.!This!is!connected!to!GPIO04.!It!can!use!as!a!
general!purpose!indicator.!
1.5. LED2
The!LED!blinks!at!about!1Hz!while!it's!searching!for!satellites!and!blinks!once!every!
15!seconds!when!a!fix!is!found.!
1.6. Not Fitted Items
J2!can!be!use!to!power!a!serial!LCD!with!data!on!TXD!line!from!the!Pi.!There!is!also!5v!
supply!on!J2.!
1.7. External GPS Antenna and Backup Battery
An!external!GPS!antenna!can!be!fitted!via!connector!X1.!This!is!an!uFL!connector.!A!
uFL!to!SMA!cable!adapter!is!normally!required.!
A!backup!battery!can!be!fitted!for!the!RTC!and!help!to!reduce!fix!time.!
!
!
!
!
!
!
!
CAN0%(J3)%
Pin%number%
Function%
1!
n/c!
2!
GND!
3!
CAN_H!
4!
CAN_L!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
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3. Software Installation
The!following!procedure!is!for!the!Raspberry!Pi!3.!!
It!is!best!to!start!with!a!brand!new!Raspbian!Jessie!image.!Download!the!latest!from:!
https://www.raspberrypi.org/downloads/raspbian/!
After!first!time!boot!up,!do!an!update!and!upgrade!first.!
sudo apt-get update
sudo apt-get upgrade
sudo reboot
Add!the!overlays!by:!
sudo nano /boot/config.txt
Add!these!4!lines!to!the!end!of!file:!
dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay
enable_uart=1
!
!
Edit!the!cmdline.txt!by:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
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SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
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sudo nano /boot/cmdline.txt
Change!!
dwc_otg.lpm_enable=0 console=serial0,115200 console=tty1
root=/dev/mmcblk0p2 rootfstype=ext4 elevator=deadline
fsck.repair=yes rootwait
to!
dwc_otg.lpm_enable=0 console=tty1 root=/dev/mmcblk0p2
rootfstype=ext4 elevator=deadline fsck.repair=yes rootwait
That!is!remove!console=serial0,115200!
!
Reboot!Pi:!
sudo reboot
1.8. Basic GPS Test
The!raw!data!can!be!read!by:!
stty -F /dev/ttyS0 raw 9600 cs8 clocal –cstopb
Now!read!the!data!
cat /dev/ttyS0
If!you!see!the!data!with!lots!of!commas!then!it!means!the!module!has!not!got!a!fix!yet.!
Make!sure!the!GPS!module!has!a!clear!view!of!the!sky.!Alternatively!connect!an!
external!GPS!antenna!to!the!board!and!place!the!antenna!outdoor.!
You!should!see!something!like!this:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
7
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1.9. Using GPSD
A!program!called!GPSD!can!be!use!to!view!the!data!in!a!formatted!way.!
To!install!GPSD,!type:!
sudo apt-get install gpsd gpsd-clients python-gps
You!need!first!to!disable!systemd!service!that!GPSD!installs:!
sudo systemctl stop gpsd.socket
sudo systemctl disable gpsd.socket
To!start!GPSD,!type:!
sudo gpsd /dev/ttyS0 -F /var/run/gpsd.sock
gpsmon
You!should!see!this!screen:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
8
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1.10. External GPS Antenna
The!PiCAN-GPS!board!has!built!in!patch!antenna!which!provides!a!-165dBm!
sensitivity.!However!if!your!project!is!in!a!box!and!does!not!have!a!clear!view!of!the!
sky!then!an!external!antenna!is!more!suitable.!
The!optional!external!antenna!has!a!SMA!connector!and!an!uFL!to!SMA!cable!adapter!
is!required.!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
9
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1.11. Bring Up the CAN Interface
You!can!now!bring!the!CAN!interfaces!up:!
sudo /sbin/ip link set can0 up type can bitrate 500000
Download!and!copy!the!CAN!test!programs!to!the!Pi.!
sudo apt-get install can-utils
Connect!the!PiCAN2!to!your!CAN!network!via!screw!terminal.!
To!send!a!CAN!message!on!can0!(CAN!B!J4)!use!:!
cansend can0 7DF#0201050000000000
This!will!send!a!CAN!ID!of!7DF.!Data!02!01!05!–!coolant!temperature!request.!
To!send!a!CAN!message!on!can1!(CAN!A!J3)!use!:!
cansend can1 7DF#0201050000000000
!
Connect!the!PiCAN!to!a!CAN-bus!network!and!monitor!traffic!by!using!command:!
candump can0
You!should!see!something!like!this:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
10
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4. Writing Your Own Software
You!can!write!your!own!application!software!in!either!C!or!Python.!
1.12. Application in Python
Download!the!Python-CAN!files!from:!
https://bitbucket.org/hardbyte/python-can/get/4085cffd2519.zip
Unzip!and!install!by!
sudo python3 setup.py install
Bring!the!CAN!interface!up!if!it!is!not!already!done:!
sudo /sbin/ip link set can0 up type can bitrate 500000
Now!start!python3!
python3
To!sent!a!message!out!type!the!following!lines:!
import can
bus = can.interface.Bus(channel='can0', bustype='socketcan_native')
msg = can.Message(arbitration_id=0x7de,
data=[0, 25, 0, 1, 3, 1, 4, 1],

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
11
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extended_id=False)
bus.send(msg)
!
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!
!
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To!received!messages!and!display!on!screen!type:!
notifier = can.Notifier(bus, [can.Printer()])
1.13. Application in C
Bring!the!CAN!interface!up!if!it!is!not!already!done:!

!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!PiCAN 2 GPS Rev B V1.1
!
SK Pang Electronics Ltd Ó 2020
www.skpang.co.uk
12
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sudo /sbin/ip link set can0 up type can bitrate 500000
Download!the!source!code!and!example!files!by!typing!the!following!in!the!command!
prompt:!
wget http://skpang.co.uk/dl/cantest.tar
Unpack!the!tar!file!and!change!into!directory!by:!
tar xf cantest.tar
cd linux-can-utils
The!example!file!is!called!cantest.c!to!edit!this!file,!type!the!following!in!the!command!
prompt:!
nano cantest.c
Line!77!is!the!CAN!message!to!be!sent!out.!
unsigned char buff[] = "7DF#0201050000000000";
7DF!is!the!message!ID!and!0201050000000000!is!the!data.!Change!the!data!to!suit.!
Press!CTRL-X!to!exit.!
To!compile!the!program!type:!
make
Check!there!are!no!errors.!To!run!the!program!type:!
./cantest